CN109392461B - Automatic picking device for ridge culture strawberries and working process thereof - Google Patents

Abstract

The invention discloses an automatic picking device for ridge-culture strawberries and a working process thereof. Compared with the prior art, the automatic picking device for the ridge culture strawberries and the working process thereof have the advantages that the automatic picking of the strawberries is completed by applying the concept of a production line, the production efficiency is greatly improved, and the leaves are not damaged.

Description

Automatic picking device for ridge culture strawberries and working process thereof

Technical Field

The invention relates to an automatic picking device for ridge culture strawberries and a working process thereof, relates to the field of agricultural automation, and belongs to the field of automatic fruit picking.

Background

The related art background and the closest prior art are as follows:

the strawberries are sweet in taste and rich in nutritive value, and are widely planted worldwide, wherein the planting area of the strawberries in China reaches 10 ten thousand hm 2. In order to ensure the use and appearance quality of the strawberries, the ripe fruits need to be picked very often in the morning and evening every day on the harvest date, the labor intensity is high, and the risk of suffering from lumbar diseases of fruit growers is increased. The large amount of manpower is still needed for strawberry farmers who supply strawberries to the market, the manpower cost accounts for 1/4 of the production cost of strawberry cultivation, and therefore the design investment of a strawberry picking machine is still needed. At present, what most designers adopted to the mode of plucking of strawberry is the mode of plucking of imitative people's hand, uses pressure sensor control clamping-force's size to prevent to press from both sides bad strawberry at the front end, and some adoption flexible body robots snatch the strawberry, and this kind of mode is higher to the control requirement of the size of power equally, and operational environment requires also highly. The strawberry picked in the above mode is mainly planted in an overhead culture mode, picking is carried out in a mode of driving the mechanical arm by using a visual guidance servo, and the practical applicability of the above scheme is reduced once again because most strawberry growers in China plant strawberries in ridge culture. A mechanism for picking up the ridge culture strawberries is designed according to the actual planting condition of the ridge culture strawberries.

The most similar prior art implementation to the present invention is as follows:

the strawberry picking machine designed by mechanical engineering and automatic chemical college of Liaoning Industrial university is most similar to the invention, and in the design scheme, the strawberry picking machine consists of three parts, namely a picking device, a conveying device and a traveling device. The walking device consists of two driving wheels and two universal wheels, and the turning is realized through the differential speed of the two driving wheels during turning. Picking device adopts strawberry picking robotic arm to pick, the complete machine moves strawberry department, strawberry picking robotic arm downstream to ridge bottom, simultaneously remove to strawberry ridge lateral wall direction, move the strawberry lower extreme, strawberry picking robotic arm upwards lifts this moment, pack into the box strawberry, whether simultaneously colour sensor discernment strawberry is ripe, when the strawberry is green, strawberry picking robotic arm reverse motion returns, when being red, to keeping away from strawberry ridge lateral wall direction slant upward movement, utilize this angle to make the rhizome and the blade contact of strawberry, the fruit stem separation, later strawberry picking robotic arm transports the strawberry to conveyor top, at this moment electromagnet work, open at the bottom of the box, make the strawberry fall into conveyor. The function that conveyor mainly accomplished is transported for the main function to plucking good strawberry, makes the strawberry transport to the machine top, makes things convenient for artificial selection and dress box.

The disadvantages of the prior art are as follows:

the disadvantages of the prior art are firstly the high cost: the mechanical arm is driven by the vision guide servo to pick the strawberries, the fruit stalks of the strawberries are thin, the diameters of the fruit stalks are about 2-4 mm, the requirements on the moving precision and the moving position precision of the mechanical arm are high, the mechanical arm meeting the use requirements is expensive, the requirements on the anti-interference performance and the anti-vibration performance of a camera are high by adopting the vision guide, and the cost for automatically picking the strawberries is high by integrating two points; secondly, picking efficiency is low: picking is carried out by the mechanical arm, a series of processes of capturing the position of the strawberry by a camera, distinguishing the maturity of the strawberry, moving the mechanical arm to a specified position, cutting off fruit stalks and conveying the picked strawberry to a storage position are needed, in order to prevent the step loss of a stepping motor driving the mechanical arm, the minimum moving speed needs to be guaranteed, the average time consumption of picking of single strawberry is 1.09min, and the picking efficiency is low; finally, the applicability is low: the scheme of picking through the arm is to the strawberry that the overhead was cultivated, and its planting cost is high, consumes the labour, and the mode that the strawberry was planted to domestic majority fruit grower is planted for the field ridge, and the interval between every ridge is about 400mm, and prior art's picking device can not get into the field ridge and carry out the operation.

Disclosure of Invention

In order to solve the problem of production efficiency, the concept of a production line is introduced into the design of a strawberry picking device, the strawberry picking device is used for picking strawberries, identifying the maturity, cutting off fruit stalks, conveying the strawberries to a storage position, respectively designing and independently completing actions, and the strawberries are arranged in a walking device according to the mode of the production line, so that the production efficiency is improved. Simultaneously with running gear design for striding the ridge formula and automatic strawberry picking device strides and picks the strawberry on the ridge, solved the unable shortcoming that gets into the ridge of current device.

The technical scheme adopted by the invention is as follows:

an automatic picking device for ridge culture strawberries comprises a walking device, a fruit picking device, a fruit conveying device, a fruit storage device and a fruit and leaf separating device, wherein the fruit picking device is arranged on the side part of the walking device, the fruit conveying device is arranged on each of two sides of the walking device, the fruit storage device is positioned above the walking device, and the fruit and leaf separating device is positioned on the lower part of the walking device;

the traveling device comprises a support frame, a direct current motor, a driving wheel and a support thereof, a first encoder, a synchronous belt and a rear wheel steering control rod, wherein the support frame comprises a pair of transverse rods and a pair of longitudinal rods, the pair of transverse rods and the pair of longitudinal rods form a frame, the same side ends of the two longitudinal rods are respectively provided with a vertical control retaining rod, the upper end parts of the two vertical control retaining rods are provided with a transverse control retaining rod, the transverse control retaining rod is provided with a hexagon head bolt, and the transverse rod below the transverse control retaining rod is also provided with the hexagon head bolt; the driving wheel and the support thereof are positioned at the front end of the walking device, the front ends of the two longitudinal rods are respectively provided with the driving wheel and the support thereof, the driving wheel and the support thereof comprise driving wheel connecting pieces fixed with the longitudinal rods, the lower parts of the driving wheel connecting pieces are driving wheel upper supports which are of a notch structure with a downward opening, the two sides of the driving wheel upper supports are respectively hinged with driving wheel lower supports, a tire shaft sleeve is arranged between the bottom ends of the two driving wheel lower supports, a driving tire is installed on the tire shaft sleeve, a shock absorber shaft sleeve is arranged between the middle of the two driving wheel lower supports, and a shock absorber is arranged between the shock absorber shaft sleeve and the driving wheel upper supports; the rear wheel is positioned at the rear end of the walking device and comprises a rear wheel connecting piece arranged at the rear end of the longitudinal rod, a rear wheel upper supporting frame is arranged at the lower part of the rear wheel connecting piece and is of a notch structure with a downward opening, rear wheel lower supporting frames are respectively hinged to two sides of the rear wheel upper supporting frame, a rear wheel tire is arranged between the bottom ends of the two rear wheel lower supporting frames, a shock absorber short shaft sleeve is arranged between the two rear wheel lower supporting frames, a rear wheel shock absorber is arranged between the shock absorber short shaft sleeve and the rear wheel upper supporting frame, a rear wheel rotating guide rod is arranged between the rear wheel upper supporting frames at the rear ends of the two longitudinal rods, a control rod connecting piece is arranged on the rear wheel rotating guide rod and is connected with the steering control rod; the steering control rod comprises a vertical rod penetrating through the two control rod fixing blocks, a control rod moving sliding block is arranged at the bottom of the vertical rod and connected with a control rod connecting piece, and a horizontal rod is arranged at the top of the vertical rod; the direct current motor is installed on the support frame through a bolt, a synchronous belt is arranged between the direct current motor and the driving tire, and the first encoder is also installed on the support frame through a bolt and used for measuring the speed of the synchronous belt;

the fruit conveying device comprises two conveying chain driving shafts, wherein a conveying chain driving motor is mounted on the side of one conveying chain driving shaft, a conveying chain is arranged around the two conveying chain driving shafts, a flat plate for lifting strawberries is arranged on the outer side of the conveying chain, and a plurality of continuously connected and formed conveying chain main supporting rods are arranged on the inner side of the conveying chain;

the fruit and leaf separating device comprises two vertical mounting plates and a transverse mounting plate, wherein the two vertical mounting plates are fixed on a horizontal rod at the advancing end, the transverse mounting plate is fixed on two longitudinal rods, two direct current motors are arranged on the lower portion of the transverse mounting plate, a left-handed hairbrush roller is arranged between one direct current motor and the vertical mounting plate at the same side, and a right-handed hairbrush roller is arranged between the other direct current motor and the vertical mounting plate at the same side.

As a further preferred scheme, two extending rods are arranged on the two longitudinal rods, vertical rods are arranged at the end parts of the extending rods, and the vertical rods are attached to the outer sides of the longitudinal rods; and reinforcing rods are arranged between the transverse rods and the longitudinal rods.

As a further preferable scheme, one end of the shock absorber is hinged to the shock absorber shaft sleeve, and the other end of the shock absorber is hinged to the driving wheel upper support.

As a further preferred scheme, a bearing connecting plate is arranged at the lower part of the rear wheel connecting piece, a rear wheel supporting shaft is arranged on the supporting frame penetrating through the rear wheel, and the bearing connecting plate is welded on the rear wheel supporting shaft.

As a further preferable mode, the vertical rod is provided with an upper control rod rotary sleeve and a lower control rod rotary sleeve, the upper control rod rotary sleeve is positioned on the control rod fixing block of the lateral control holding rod, and the lower control rod rotary sleeve is positioned on the control rod fixing block of the lateral rod.

As a further preferred scheme, a side supporting rod is arranged between two adjacent conveying chain main supporting rods, and a conveying chain supporting block for improving stability is arranged between two opposite conveying chain main supporting rods.

As a further preferred scheme, a fisheye joint is arranged between the left-handed hairbrush roller and the vertical mounting plate, a universal coupling is arranged between the left-handed hairbrush roller and the direct current motor, a fisheye joint is also arranged between the right-handed hairbrush roller and the vertical mounting plate, and a universal coupling is also arranged between the right-handed hairbrush roller and the direct current motor.

As a further preferred scheme, the fruit picking device comprises a picking device support, a fruit sliding guide rail, a driving motor, a belt, a conveying belt, a fruit stem shearing device, a camera module and a connecting rod, wherein two ends of a bottom plate of the picking device support are provided with rolling shafts, the conveying belt is arranged around the two rolling shafts, the driving motor is installed on the picking device support, the belt is arranged between a power output end of the driving motor and one rolling shaft, the lower part of the picking device support is provided with the fruit sliding guide rail which is close to the conveying chain, the picking device support is also provided with the connecting rod, the connecting rod is fixed on a vertical rod, the fruit stem shearing device comprises a blade part and a cushion block part, the bottom plate of the picking device support is provided with the cushion block part through the conveying belt, the blade part is positioned on the picking device support, the blade part and the cushion block part are close to each other, one side of the conveying belt close to the picking device support is positioned between the blade part and the cushion block part, the blade part is driven by a small driving motor to move towards the cushion block part to cut off fruit stalks, and the side part of the blade part is also provided with a camera module for observing the maturity of the strawberries.

A workflow for an automatic harvesting apparatus for ridge-planted strawberries, comprising the steps of:

the method comprises the following steps: the automatic picking device spans a ridge, a direct current motor of the fruit and leaf separating device rotates, a right rotating brush roller is driven to rotate clockwise through a universal coupling, a left rotating brush roller is driven to rotate anticlockwise, strawberry leaves covered on strawberries are gathered towards the middle through soft bristles, and the strawberries are exposed in front of the fruit picking device;

step two: the automatic picking device moves forwards, the driving motor drives the conveying belt to rotate through the belt, the strawberries are successfully picked up and conveyed onto the conveying belt, when the strawberries move to a shooting range of the camera module along with the conveying belt, the position of the strawberries in an image is dynamically tracked by the control system, the maturity of the strawberries is judged, if the strawberries do not meet the maturity condition, the control system enables the fruit stalk cutting device in a normally closed state to be out of action, the automatic strawberry picking device continuously moves the strawberries forwards to leave the conveying belt and return to the field ridges, and if the strawberries are judged to be in a mature state, the control system enables the fruit stalk cutting;

step three: the small driving motor drives the blade part to fall down and press the blade part below the blade part to cut off the fruit stalks of the strawberries, and the strawberries slide down and enter the fruit conveying device through the fruit sliding guide rail;

step four: the conveying chain driving motor drives the conveying chain driving shaft to drive the conveying chain to drive, the fruit conveying device conveys the strawberries upwards to the highest position and sends the strawberries into the fruit storage device, and therefore automatic picking of the strawberries is completed.

Compared with the prior art, the automatic picking device for the ridge culture strawberries and the working process thereof have the advantages that due to the fact that each part can complete the appointed function in the whole process of picking the strawberries, judging the maturity, cutting off the fruit stalks and finally conveying the strawberries upwards, all the parts are combined with one another, when the automatic picking device is installed together to work, the automatic picking of the strawberries is completed by applying the concept of a production line, and the production efficiency is greatly improved. Running gear adopts the design of the type of falling U, makes whole device stride on the field ridge, conveniently gets into the field ridge, adopts the mode that the front wheel drove the rear wheel and turns to simultaneously, and it is big to turn to the angle, easily turns in the finite space of strawberry planting big-arch shelter and removes. The fruit and leaf separating device gathers strawberry leaves towards the middle, the success rate of strawberry picking is further improved, and meanwhile, the brush bristles of the brush roller are soft, so that the leaves of the strawberries cannot be damaged.

Drawings

FIG. 1 is an overall external view of the present invention;

FIG. 2 is an overall exploded view of the present invention;

FIG. 3 is an overall external view of the walking device;

FIG. 4 is an overall external view of the support frame;

FIG. 5 is an overall external view of the drive wheel and its support;

FIG. 6 is an overall appearance view of the rear wheel;

FIG. 7 is an overall appearance view of the steering control lever;

FIG. 8 is an overall external view of the fruit picking apparatus;

FIG. 9 is an overall external view of the fruit conveying device;

FIG. 10 is an overall external view of the leaf separating device;

FIG. 11 is a front view of the working state;

fig. 12 is a side view of the working state.

Detailed Description

In order to make the purpose and technical method of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. Based on the described embodiments of the invention, all other embodiments that can be performed by a person skilled in the art without inventive effort fall within the scope of the invention.

As shown in fig. 1 and 2, an automatic picking apparatus for ridge-planting strawberries comprises: the fruit picking device comprises a walking device 100, a fruit picking device 200, a fruit conveying device 300, a fruit storage device 400 and a fruit and leaf separating device 500.

As shown in fig. 3, the walking device 100 includes: the device comprises a support frame 110, a direct current motor 120, a driving wheel and a support 130 thereof, an encoder 140, a synchronous belt 150, a rear wheel 160 and a steering control rod 170.

As shown in fig. 4, the supporting frame 110 includes a cross bar 111, a longitudinal bar 112, a vertical bar 113, an extension bar 114, a lateral control retaining bar 115, a control bar fixing block 116, a hexagonal head bolt 117, a vertical control retaining bar 118, and a reinforcing bar 119. The aluminum profiles such as the transverse rod 111, the longitudinal rod 112 and the vertical rod 113 are connected according to the installation size through aluminum profile connecting pieces such as angle aluminum, the control rod fixing block 116 determines the spatial position of the steering control rod 170 and is connected with an aluminum profile support through a hexagon bolt, the reinforcing rod 119 and the transverse rod and the longitudinal rod form a triangular structure to improve the stability of the support, and a through hole is drilled in the vertical rod 113 to install the fruit picking device 200;

as shown in fig. 5, the driving wheel and its support 130 includes a driving wheel connecting member 131, a driving wheel upper support 132, a damper bushing 133, a damper 134, a driving wheel lower support 135, a tire bushing 136, and a driving tire 137. The driving wheel connecting piece 131 is connected with the driving wheel upper support 132 and the driving wheel lower support 135 through bolts and nuts, the driving tire 137 is connected with the support frame 110 through the driving wheel connecting piece 131, the shock absorber shaft sleeve 133 enables the shock absorber to be fixed in the axial position on the stud, the tire shaft sleeve 136 enables the driving tire 137 to be fixed in the axial position, a synchronous pulley is mounted on the driving tire 137, and the torque can be transmitted to the tire through the synchronous belt 150;

as shown in fig. 6, the rear wheel 160 includes a rear wheel lower support frame 161, a damper short boss 162, a rear wheel damper 163, a rear wheel support shaft 164, a deep groove ball bearing 165, a rear wheel rotation guide lever 166, a control lever link 167, a bearing link plate 168, a rear wheel link 169, a guide lever link 1610, a rear wheel upper support frame 1611, and a rear wheel tire 1612. The rear wheel 160 is installed on the support frame 110 through a rear wheel connecting piece 169, the rear wheel connecting piece 169 is in fit connection with a bearing connecting plate 168 through bolts and nuts, the bearing connecting plate 168 is connected with a rear wheel support shaft 164 through welding, the upper thrust ball bearing 165 and the lower thrust ball bearing 165 are axially fixed on the rear wheel support shaft 164 through round nuts when the rear wheel upper support frame 1611 is installed, and at the moment, the rear wheel upper support frame 1611 and the lower parts can rotate relative to the bearing connecting plate 168. The guide link 1610 is fixed to the rear wheel upper support 1611 by a bolt and a nut, the guide link 1610 is connected to the rear wheel rotation guide 166 by a circular shaft so as to be rotatable in one direction, and the control link 167 is engaged with a slide groove of the control link moving slider 171 so as to transmit force to the rear wheel rotation guide 166;

as shown in fig. 7, the steering control lever 170 includes a lever moving slider 171, an upper lever rotating sleeve 172, a horizontal rod 173, a vertical rod 174, and a lower lever rotating sleeve 175. The horizontal rod 173 and the vertical rod 174 are connected by gluing, and the upper control rod rotary sleeve 172, the lower control rod rotary sleeve 175 and the control rod movable sliding block 175 are connected by interference fit. The direction of the horizontal rod 173 is controlled by hands, and the lower control rod rotating sleeve 175 and the upper control rod rotating sleeve 172 are matched with the control rod fixing block 116 on the support frame 110, so that the position of the support frame 110 is determined;

further, the dc motor 120 of the traveling device 100 is mounted on the supporting frame 110 by means of bolts, and the power thereof is transmitted to the driving wheel tire 137 through the timing belt 150, so that the traveling device 100 moves forward or backward. The encoder 140 is fixed on the support frame 110 by bolts, and a synchronous pulley is mounted on a rotating shaft of the encoder to measure the speed of the synchronous belt 150, which is used as a feedback signal of the control system. When the steering control rod 170 is manually rotated by a person during steering, the torque is transmitted to the two rear wheels through the vertical rod 174, the control rod moving slider 171, the control rod connecting piece 167 and the rear wheel steering guide rod 166, and the two rear wheels are rotated around the rear wheel support shaft 164, so that the steering is realized.

As shown in fig. 8, the fruit picking apparatus 200 includes: the fruit cutting machine comprises a fruit sliding guide rail 210, a driving motor 220, a belt 230, a conveying belt 240, a fruit stalk cutting device, a camera module 260 and a connecting rod 270. The fruit picking device 200 is connected and installed on the supporting frame 100 through a connecting rod 270, the driving motor 220 is installed on the aluminum profile and is connected with the shaft of the conveying belt 240 through the belt 230, and the driving motor 220 transmits power to the conveying belt 240 through the belt 230 to enable the conveying belt 240 to rotate. The fruit stalk cutting device is connected to the picking device bracket through a bolt and is used for cutting off fruit stalks, wherein the fruit stalks are divided into a blade part 252 and a cushion block part 251. The camera module 260 is connected to the bracket through a bolt, and recognizes that the fruit transmits information to the fruit stalk cutting device to perform cutting operation.

As shown in fig. 9, the fruit conveying device 300 includes: the conveying chain comprises a conveying chain supporting block 310, a conveying chain 320, a conveying chain driving shaft 330, a conveying chain driving motor 340, a conveying chain guide block 350, a conveying chain main supporting rod 360 and a side supporting rod 370. The fruit conveying device 300 is mounted on the support frame 100 by a plurality of conveying chain main support rods 360 using aluminum profile connectors, the conveying chain driving motor 340 is mounted on the conveying chain main support rods 360 by bolts and nuts, and the conveying chain driving motor 340 transmits power to the conveying chain 320 through the conveying chain driving shaft 330 to move it. The chain guide 350 is mounted on the supporting frame 100 by bolts to prevent the chain 320 from interfering with the supporting frame 100, and the whole device is provided with a plurality of chain support blocks 310 to improve stability. The side support rods 370 are connected to the main support rod 360 of the conveying chain by a single pair of bolts and nuts, so that if the nuts are loosened, the inclination angle of the side support rods 370 can be adjusted, and further, the inclination angle of the outer side of the conveying chain 320 can be changed.

As shown in fig. 10, the fruit and leaf separating device 500 includes: the fisheye joint 510, the vertical mounting plate 520, the right-handed brush roller 530, the universal coupling 540, the direct current motor 550, the transverse mounting plate 560 and the left-handed brush roller 570. The vertical mounting plate 520 and the horizontal mounting plate 560 are mounted on the support frame 100 through bolts and nuts, the direct current motors 550 are fixed with the horizontal mounting plate 560 through bolts, the two direct current motors 550 are connected with respective brush rollers through universal couplings 540, the fisheye joints 510 are fixed with the vertical mounting plate 520 through bolts, and the other sides of the brush rollers are connected with the fisheye joints 510. Two brush roller rotation direction are different, and the installation is space diagonal, realizes gathering together strawberry leaf to the centre, exposes the strawberry under the strawberry leaf and makes things convenient for fruit picking device 200 to pick.

As shown in fig. 11 and 12, the automatic picking device straddles over the ridge 700, the dc motor 550 of the leaf separating device 500 rotates, the right rotating brush roller 530 is driven to rotate clockwise by the universal coupling 540, the left rotating brush roller 570 is driven to rotate counterclockwise, the strawberry leaves 800 covered on the strawberries 600 are gathered to the middle by the soft bristles of the brush rollers, and the strawberries 600 are exposed in front of the fruit picking device 200. The device moves forward, referring to fig. 11, the driving motor 220 drives the conveying belt 240 to rotate clockwise through the belt 230, the conveying belt 240 is a rubber track, and a belt-shaped protrusion with a certain spiral angle is arranged on the rubber track, so that the conveying belt can be firstly contacted with the strawberry stalks and then contacted with the strawberries 600, impact and friction on the strawberries 600 are reduced, and the function of conveying the strawberries is achieved. The conveyor belt 240 operates to successfully pick up the strawberries 600 and convey the strawberries onto the conveyor belt 240, when the strawberries 600 move to the shooting range of the camera module along with the conveyor belt 240, the control system dynamically tracks the positions of the strawberries 600 in the images and judges the maturity of the strawberries 600, if the strawberries 600 do not meet the maturity condition, the control system enables the normally closed fruit stalk cutting device to be out of action, and the automatic strawberry picking device continues to move the strawberries 600 forward, so that the strawberries can leave the conveyor belt 240 and return to the upper portion of the field ridge 700; if the strawberries 600 are in a mature state after being judged, the control system enables the fruit stalk cutting device to act, the small driving motor drives the blade part 252 to fall down and press the blade part 251 below the blade part to cut off the fruit stalks of the strawberries 600, the strawberries 600 slide downwards and enter the fruit conveying device 300 through the fruit sliding guide rail 210, the conveying chain driving motor 340 drives the conveying chain driving shaft 330 to drive the conveying chain, the two sides of the conveying chain 320 are provided with guard plates, the conveyed strawberries cannot fall off from the conveying chain, the fruit conveying device 300 conveys the strawberries 600 upwards to the highest position to convey the strawberries 600 into the fruit storage device 400, and therefore automatic picking of the strawberries 600 is completed. Each part of the whole device can be operated independently, is hardly influenced by the movement of other parts, and has no waiting interval time, so that the efficiency is greatly improved.

The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. An automatic picking method for ridge-planted strawberries is based on an automatic picking device for the ridge-planted strawberries, the automatic picking device comprises a walking device (100), a fruit picking device (200), a fruit conveying device (300), a fruit storage device (400) and a fruit and leaf separating device (500), the fruit picking device (200) is installed on the side portion of the walking device (100), the fruit conveying device (300) is arranged on each of two sides of the walking device (100), the fruit storage device (400) is located above the walking device (100), and the fruit and leaf separating device (500) is located on the lower portion of the walking device (100); the walking device (100) comprises a support frame (110), a direct current motor (120), a driving wheel and a support thereof (130), a first encoder (140), a synchronous belt (150), a rear wheel (160) and a steering control rod (170), wherein the support frame (110) comprises a pair of transverse rods (111) and a pair of longitudinal rods (112), the pair of transverse rods (111) and the pair of longitudinal rods (112) form a frame, vertical control retaining rods (118) are respectively arranged at the same side ends of the two longitudinal rods (112), a transverse control retaining rod (115) is arranged at the upper end parts of the two vertical control retaining rods (118), a control rod fixing block (116) is installed on the transverse control retaining rod (115) and is fixed through a hexagon head bolt (117), and a control rod fixing block (116) is also installed on the transverse rod (111) below the transverse control retaining rod (115) and is fixed through the hexagon head bolt (117); the driving wheel and the support (130) thereof are positioned at the front end of the walking device (100), the front ends of the two longitudinal rods (112) are respectively provided with the driving wheel and the support (130) thereof, the driving wheel and the support (130) thereof comprise driving wheel connecting pieces (131) fixed with the longitudinal rods (112), the lower parts of the driving wheel connecting pieces (131) are driving wheel upper supports (132), the driving wheel upper supports (132) are of a notch structure with a downward opening, two sides of the driving wheel upper supports (132) are respectively hinged with driving wheel lower supports (135), a tire shaft sleeve (136) is arranged between the bottom ends of the two driving wheel lower supports (135), a driving tire (137) is arranged on the tire shaft sleeve (136), a damper shaft sleeve (133) is arranged between the middle parts of the two driving wheel lower supports (135), and a damper (134) is arranged between the damper shaft sleeve (133) and the driving wheel upper supports (132); the rear wheel (160) is positioned at the rear end of the walking device (100) and comprises a rear wheel connecting piece (169) arranged at the rear end of the longitudinal rod (112), rear wheel upper supporting frames (1611) are arranged at the lower part of the rear wheel connecting piece (169), the rear wheel upper supporting frames (1611) are of a notch structure with a downward opening, rear wheel lower supporting frames (161) are respectively hinged to two sides of each rear wheel upper supporting frame (1611), a rear wheel tire (1612) is arranged between the bottom ends of the two rear wheel lower supporting frames (161), a shock absorber short shaft sleeve (162) is arranged between the middle of each rear wheel lower supporting frame (161), a rear wheel shock absorber (163) is arranged between each shock absorber short shaft sleeve (162) and the corresponding rear wheel upper supporting frame (1611), a rear wheel steering guide rod (166) is arranged between the rear wheel upper supporting frames (1611) at the rear ends of the two longitudinal rods (112), a control rod connecting piece (167) is arranged on each rear wheel steering guide rod (166), and the control rod connecting piece (167) is connected with the steering control rod (170); the steering control rod (170) comprises a vertical rod (174) penetrating through the two control rod fixing blocks (116), a control rod moving slide block (171) is arranged at the bottom of the vertical rod (174), the control rod moving slide block (171) is connected with the control rod connecting piece (167), and a horizontal rod (173) is arranged at the top of the vertical rod (174); the direct current motor (120) is mounted on the support frame (110) through a bolt, a synchronous belt (150) is arranged between the direct current motor (120) and the driving tire (137), and the first encoder (140) is also mounted on the support frame (110) through a bolt and used for measuring the speed of the synchronous belt (150); the fruit conveying device (300) comprises two conveying chain driving shafts (330), wherein a conveying chain driving motor (340) is installed on the side portion of one conveying chain driving shaft (330), a conveying chain (320) is arranged around the two conveying chain driving shafts (330), a flat plate for lifting strawberries is arranged on the outer side of the conveying chain (320), and a plurality of continuously connected and formed conveying chain main supporting rods (360) are arranged on the inner side of the conveying chain (320); the fruit and leaf separating device (500) comprises two vertical mounting plates (520) and a transverse mounting plate (560), the two vertical mounting plates (520) are fixed on a transverse rod (111) at the advancing end, the transverse mounting plate (560) is fixed on two longitudinal rods (112), 4 direct current motors (550) are arranged at the lower part of the transverse mounting plate (560), a left-handed brush roller (570) is arranged between one direct current motor (550) and the vertical mounting plate (520) at the same side, and a right-handed brush roller (530) is arranged between the other direct current motor (550) and the vertical mounting plate (520) at the same side; two extending rods (114) are arranged on the two longitudinal rods (112), vertical rods (113) are arranged at the end parts of the extending rods (114), and the vertical rods (113) are attached to the outer sides of the longitudinal rods (112); a reinforcing rod (119) is arranged between the cross rod (111) and the longitudinal rod (112); one end of the shock absorber (134) is hinged to the shock absorber shaft sleeve (133), and the other end of the shock absorber is hinged to the driving wheel upper bracket (132); a bearing connecting plate (168) is arranged at the lower part of the rear wheel connecting piece (169), a rear wheel supporting shaft (164) penetrates through a rear wheel upper supporting frame (1611), and the bearing connecting plate (168) is welded on the rear wheel supporting shaft (164); the vertical rod (174) is provided with an upper control rod rotating sleeve (172) and a lower control rod rotating sleeve (175), the upper control rod rotating sleeve (172) is positioned on the control rod fixing block (116) of the transverse control maintaining rod (115), and the lower control rod rotating sleeve (175) is positioned on the control rod fixing block (116) of the transverse rod (111); a side supporting rod (370) is arranged between two adjacent conveying chain main supporting rods (360), and a conveying chain supporting block (310) for improving the stability is arranged between two opposite conveying chain main supporting rods (360); a fisheye joint (510) is arranged between the left-handed hairbrush roller (570) and the vertical mounting plate (520), a universal coupling (540) is arranged between the left-handed hairbrush roller (570) and the direct current motor (550), the fisheye joint (510) is also arranged between the right-handed hairbrush roller (530) and the vertical mounting plate (520), and the universal coupling (540) is also arranged between the right-handed hairbrush roller (530) and the direct current motor (550); the fruit picking device (200) comprises a picking device support, a fruit sliding guide rail (210), a driving motor (220), a belt (230), a conveying belt (240), a fruit stem shearing device, a camera module (260) and a connecting rod (270), wherein rolling shafts are arranged at two ends of a bottom plate of the picking device support, the conveying belt (240) is arranged around the two rolling shafts, the driving motor (220) is installed on the picking device support, the belt (230) is arranged between a power output end of the driving motor (220) and one rolling shaft, the fruit sliding guide rail (210) is arranged at the lower part of the picking device support, the fruit sliding guide rail (210) is close to the conveying chain (320), the connecting rod (270) is further arranged on the picking device support, the connecting rod (270) is fixed on a vertical rod (113), the fruit stem shearing device comprises a blade part (252) and a cushion block part (251), and the cushion block part (251) is arranged on the bottom plate of the picking device support and penetrates through the conveying belt (240), the blade part (252) is positioned on the picking device bracket, the blade part (252) and the cushion block part (251) are close to each other, one side of the conveyer belt (240) close to the picking device bracket is positioned between the blade part (252) and the cushion block part (251), the blade part (252) is driven by a small driving motor to move towards the cushion block part (251) to cut off fruit stalks, and the side part of the blade part (252) is also provided with a camera module (260) for observing the maturity of strawberries; the automatic picking method is characterized by comprising the following steps:

the method comprises the following steps: the automatic picking device spans a ridge, a direct current motor of the fruit and leaf separating device rotates, a right rotating brush roller is driven to rotate clockwise through a universal coupling, a left rotating brush roller is driven to rotate anticlockwise, strawberry leaves covered on strawberries are gathered towards the middle through soft bristles, and the strawberries are exposed in front of the fruit picking device;

step two: the automatic picking device moves forwards, the driving motor drives the conveying belt to rotate through the belt, the strawberries are successfully picked up and conveyed onto the conveying belt, when the strawberries move to a shooting range of the camera module along with the conveying belt, the position of the strawberries in an image is dynamically tracked by the control system, the maturity of the strawberries is judged, if the strawberries do not meet the maturity condition, the control system enables the fruit stalk cutting device in a normally closed state to be out of action, the automatic strawberry picking device continuously moves the strawberries forwards to leave the conveying belt and return to the field ridges, and if the strawberries are judged to be in a mature state, the control system enables the fruit stalk cutting device to be in action;

step three: the small driving motor drives the blade part to fall down and press the blade part below the blade part to cut off the fruit stalks of the strawberries, and the strawberries slide down and enter the fruit conveying device through the fruit sliding guide rail;

step four: the conveying chain driving motor drives the conveying chain driving shaft to drive the conveying chain to drive, the fruit conveying device conveys the strawberries upwards to the highest position and sends the strawberries into the fruit storage device, and therefore automatic picking of the strawberries is completed.

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